Visible Light Communication-based indoor localization using Gaussian Process

Kejie Qiu; Fangyi Zhang; Ming Liu

doi:10.1109/IROS.2015.7353809

Visible Light Communication-based indoor localization using Gaussian Process

Kejie Qiu, Fangyi Zhang, Ming Liu

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

32 Citations (Scopus)

Abstract

For mobile robots and position-based services, such as healthcare service, precise localization is the most fundamental capability while low-cost localization solutions are with increasing need and potentially have a wide market. A low-cost localization solution based on a novel Visible Light Communication (VLC) system for indoor environments is proposed in this paper. A number of modulated LED lights are used as beacons to aid indoor localization additional to illumination. A Gaussian Process(GP) is used to model the intensity distributions of the light sources. A Bayesian localization framework is constructed using the results of the GP, leading to precise localization. Path-planning is hereby feasible by only using the GP variance field, rather than using a metric map. Dijkstra's algorithm-based path-planner is adopted to cope with the practical situations. We demonstrate our localization system by real-time experiments performed on a tablet PC in an indoor environment.

Original language	English
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3125-3130
Number of pages	6
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353809
Publication status	Published - 11 Dec 2015
Externally published	Yes
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Bayes methods
Electron tubes
Gaussian processes
Light emitting diodes
Light sources
Optoelectronic and photonic sensors

Access to Document

10.1109/IROS.2015.7353809

Cite this

Qiu, K., Zhang, F., & Liu, M. (2015). Visible Light Communication-based indoor localization using Gaussian Process. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3125-3130). Article 7353809 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353809

Qiu, Kejie ; Zhang, Fangyi ; Liu, Ming. / Visible Light Communication-based indoor localization using Gaussian Process. IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 3125-3130 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Visible Light Communication-based indoor localization using Gaussian Process",

abstract = "For mobile robots and position-based services, such as healthcare service, precise localization is the most fundamental capability while low-cost localization solutions are with increasing need and potentially have a wide market. A low-cost localization solution based on a novel Visible Light Communication (VLC) system for indoor environments is proposed in this paper. A number of modulated LED lights are used as beacons to aid indoor localization additional to illumination. A Gaussian Process(GP) is used to model the intensity distributions of the light sources. A Bayesian localization framework is constructed using the results of the GP, leading to precise localization. Path-planning is hereby feasible by only using the GP variance field, rather than using a metric map. Dijkstra's algorithm-based path-planner is adopted to cope with the practical situations. We demonstrate our localization system by real-time experiments performed on a tablet PC in an indoor environment.",

keywords = "Bayes methods, Electron tubes, Gaussian processes, Light emitting diodes, Light sources, Optoelectronic and photonic sensors",

author = "Kejie Qiu and Fangyi Zhang and Ming Liu",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

year = "2015",

month = dec,

day = "11",

doi = "10.1109/IROS.2015.7353809",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Qiu, K, Zhang, F & Liu, M 2015, Visible Light Communication-based indoor localization using Gaussian Process. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7353809, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 3125-3130, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353809

Visible Light Communication-based indoor localization using Gaussian Process. / Qiu, Kejie; Zhang, Fangyi; Liu, Ming.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3125-3130 7353809 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

TY - GEN

T1 - Visible Light Communication-based indoor localization using Gaussian Process

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AU - Liu, Ming

PY - 2015/12/11

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N2 - For mobile robots and position-based services, such as healthcare service, precise localization is the most fundamental capability while low-cost localization solutions are with increasing need and potentially have a wide market. A low-cost localization solution based on a novel Visible Light Communication (VLC) system for indoor environments is proposed in this paper. A number of modulated LED lights are used as beacons to aid indoor localization additional to illumination. A Gaussian Process(GP) is used to model the intensity distributions of the light sources. A Bayesian localization framework is constructed using the results of the GP, leading to precise localization. Path-planning is hereby feasible by only using the GP variance field, rather than using a metric map. Dijkstra's algorithm-based path-planner is adopted to cope with the practical situations. We demonstrate our localization system by real-time experiments performed on a tablet PC in an indoor environment.

AB - For mobile robots and position-based services, such as healthcare service, precise localization is the most fundamental capability while low-cost localization solutions are with increasing need and potentially have a wide market. A low-cost localization solution based on a novel Visible Light Communication (VLC) system for indoor environments is proposed in this paper. A number of modulated LED lights are used as beacons to aid indoor localization additional to illumination. A Gaussian Process(GP) is used to model the intensity distributions of the light sources. A Bayesian localization framework is constructed using the results of the GP, leading to precise localization. Path-planning is hereby feasible by only using the GP variance field, rather than using a metric map. Dijkstra's algorithm-based path-planner is adopted to cope with the practical situations. We demonstrate our localization system by real-time experiments performed on a tablet PC in an indoor environment.

KW - Bayes methods

KW - Electron tubes

KW - Gaussian processes

KW - Light emitting diodes

KW - Light sources

KW - Optoelectronic and photonic sensors

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Qiu K, Zhang F, Liu M. Visible Light Communication-based indoor localization using Gaussian Process. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 3125-3130. 7353809. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7353809

Visible Light Communication-based indoor localization using Gaussian Process

Abstract

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Bibliographical note

Keywords

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